Seedling body transfer device of transplanter

Abstract

The invention discloses a transplanter seedling body transfer device, and relates to the technical field of seedling body transfer devices.The transplanter seedling body transfer device comprises a rack, a seedling storage module, a seedling conveying module, a seedling taking module and a control module, the rack is sequentially provided with the seedling storage module, the seedling conveying module and the seedling taking module, and the seedling storage module is provided with a plurality of trays and pushing rods; plug seedlings are supported on the tray and can do reciprocating lifting motion, the pushing rod can push the plug seedlings to the seedling conveying module, the seedling taking module can clamp a row of seedling bodies on the plug seedlings for transferring, and the seedling storage module, the seedling conveying module and the seedling taking module are all in communication connection with the control module. According to the three-dimensional circulating seedling conveying device, the problems that a full-automatic transplanter is limited in tray storage amount and needs to change trays manually are solved through circulating tray storage and positioning tray pushing, the three-dimensional circulating seedling conveying device is suitable for automatic transplanting of plug seedlings of solanaceous fruits, leaf vegetables and the like, and an advanced equipment technical guarantee is provided for intelligent production of facility agriculture; facility agriculture transplanting operation is promoted to develop to a higher automation level and a higher intellectualization level.

Description

Technical Field

[0001] This invention relates to the technical field of seedling transfer devices, and in particular to a seedling transfer device for a transplanter. Background Technology

[0002] With the widespread application of the seedling-before-transplanting technique in the cultivation of various crops, this practice not only improves seed germination rate and seedling survival rate but also effectively controls the occurrence of pests and diseases, thus creating favorable conditions for crop growth. Mechanized transplanting machines are typically used when implementing this technique. Fully automatic transplanting machines are core equipment for improving transplanting efficiency and reducing labor intensity. Their complete fully automatic transplanting process usually includes steps such as seedling storage and supply, tray conveying, seedling clamping, seedling spacing adjustment, seedling delivery, and empty tray retrieval. Seedling storage and supply are mainly achieved by a seedling transfer device.

[0003] Currently, fully automatic transplanters on the market still face many technical bottlenecks. Firstly, their seedling storage capacity is limited. Most models use horizontal single-layer or simple multi-layer seedling racks for seedling supply, and typically, after traveling about 20 meters, manual replenishment of the seedling trays is required. Frequent tray replenishment necessitates manual labor as operators must carry the trays with them. Secondly, their space utilization is low. To achieve a larger seedling storage capacity, the overall machine dimensions often need to be increased, resulting in bulky equipment and a large turning radius.

[0004] Therefore, there is an urgent need for a seedling transfer device that can realize large-capacity automated seedling storage, supply, and retrieval, so as to promote the development of facility agriculture transplanting operations towards a higher level of automation and intelligence. Summary of the Invention

[0005] The purpose of this invention is to provide a seedling transfer device for transplanters to solve the problems existing in the prior art, thereby increasing the seedling storage capacity and making the spatial layout of the seedling transfer device more compact.

[0006] To achieve the above objectives, the present invention provides the following solution: This invention provides a seedling transfer device for a transplanter, comprising a frame, a seedling storage module, a seedling transport module, a seedling retrieval module, and a control module. The seedling storage module, the seedling transport module, and the seedling retrieval module are sequentially arranged on the frame. The seedling storage module is provided with several trays and a pusher rod. The trays support the seedlings in plug trays and are capable of reciprocating lifting and lowering. The pusher rods can push the seedlings in plug trays onto the seedling transport module. The seedling retrieval module can clamp and transfer a row of seedlings from the plug trays. The seedling storage module, the seedling transport module, and the seedling retrieval module are all communicatively connected to the control module.

[0007] Preferably, the seedling storage module includes a chain drive mechanism, a track, a tray, a balancing frame, and a pusher rod. Two tracks are arranged opposite to each other on the frame, and each track is equipped with a chain drive mechanism. A motor is installed on one of the chain drive mechanisms. The two ends of the tray are movably connected to the track through the balancing frame. The chain of the chain drive mechanism is movably connected to the balancing frame. The balancing frame can keep the tray in a horizontal state at all times. The pusher rod is connected to the track and can push the seedlings out of the tray.

[0008] Preferably, the track is a waist-shaped grooved track. The track, the chain drive mechanism, and the motor are all mounted on a support frame. Several crossbeams are arranged between the two sides of the support frame, and the push rod is mounted on the crossbeams. The balancing frame includes a linkage hinge and a three-jaw positioning rod. One end of the three-jaw positioning rod is rolledly connected to the track through a bearing. The middle crossbeam is hinged to the chain of the chain drive mechanism through the linkage hinge. The other end is connected to the side wall of the tray through three positioning rods, so that the tray is always in a horizontal state. The linkage hinge includes several connecting rods. One end of the connecting rod is hinged to the chain, and the other end is hinged to the middle crossbeam of the three-jaw positioning rod. Two connecting rods are hinged at the same hinge point of the chain and the middle crossbeam, forming a zigzag linkage hinge. A position sensor is provided on the support frame. The height of the position sensor and the height of the push rod are matched with the height of the tray at the unloading position.

[0009] Preferably, the unloading position of the seedling storage module is provided with a temporary storage module, and the seedling transport module is provided behind the temporary storage module. The temporary storage module is a belt conveyor mechanism, and a receiving module is provided below the temporary storage module. The height of the belt conveyor mechanism matches the height of the unloading position and the seedling transport module.

[0010] Preferably, the receiving module includes a cuboid frame and movable receiving baffles. At least one side of the cuboid frame is provided with a baffle, and both sides of the cuboid frame are provided with the movable receiving baffles. Each movable receiving baffle includes a driving component and a receiving plate. One end of the driving component is fixedly connected to the cuboid frame, and the other end is connected to the receiving plate, enabling the receiving plate to move horizontally reciprocally or rotate around a hinge axis. The width of the cuboid frame is greater than the overall width of the seedling trays. After the driving component extends, the distance between the two receiving plates is less than the overall width of the seedling trays. The middle portion of the cuboid frame is used to accommodate empty seedling trays.

[0011] Preferably, the seedling transport module includes a transport mechanism and a lifting mechanism. The lifting mechanism is symmetrically arranged at the bottom of both sides of the frame of the transport mechanism, and L-shaped limiting baffles are arranged at the top of both sides of the frame. The limiting baffles are used to restrict the forward movement and deflection of the seedlings in the plug tray. The transport mechanism is a belt transport mechanism, and the motor of the belt transport mechanism can rotate forward or backward. A counter is provided on the lifting mechanism, and the counter can count the number of times the lifting mechanism descends.

[0012] Preferably, a pressure plate mechanism is provided above the frame of the transport mechanism. The pressure plate mechanism includes a translation component and a pressure plate frame. The pressure plate frame is vertically connected to the lower part of the translation component. The pressure plate frame includes a main beam, support rods, and pressure plates. Several support rods are evenly distributed below the main beam. Each support rod is fixedly connected to a pressure plate at its lower end. The pressure plates press against the frame between two holes in the next row of seedling trays at the seedling picking station. The number of pressure plates is one less than the number of holes in a row of seedling trays. The translation component can drive the pressure plate frame to move along the movement direction of the transport mechanism. The translation component is a ball screw mechanism, and the slider of the ball screw mechanism is connected to the main beam.

[0013] Preferably, a seedling-retrieving module is provided above the seedling transport module. The seedling-retrieving module includes a straight module and a seedling-retrieving claw assembly. The straight module is symmetrically arranged on an independent support. The two ends of the seedling-retrieving claw assembly are connected to the straight module. The seedling transport module is located between the two straight modules. The seedling-retrieving claw assembly is provided with a plurality of seedling-retrieving claws. The seedling-retrieving claw assembly can simultaneously clamp the seedlings in a row of seedling trays of the plug seedlings.

[0014] Preferably, the seedling-picking claw assembly includes a belt drive mechanism, seedling-picking claws, a guide member, and a fixing rope. A plurality of seedling-picking claws are fixedly connected at equal intervals on the fixing rope. The top of each seedling-picking claw is horizontally slidably mounted on the guide member. The seedling-picking claws at both ends are respectively fixed to the front and rear belts of the belt drive mechanism, and the seedling-picking claw in the middle is fixed to the guide member. The belt drive mechanism is a synchronous belt drive mechanism, the seedling-picking claws are pneumatic grippers with a buffer pad inside, and the guide member is a linear track. Both ends of the guide member are provided with seedling-blocking rods, which are U-shaped, and the grippers of the seedling-picking claws can extend out of the seedling-blocking rods. Each end of the seedling-blocking rod is provided with an end limit switch, which is used to match the seedling-picking claws at both ends. The end limit switches and the belt drive mechanism are communicatively connected to the control module.

[0015] Preferably, a seedling-leaving module is supported below the seedling-receiving module. The seedling-leaving module includes an interval seedling-leaving component and seedling-leaving tubes. Several seedling-leaving tubes are equally spaced on the interval seedling-leaving component. The number of seedling-leaving tubes is the same as the number of seedlings in a row of seedling trays, and their positions correspond one-to-one with the positions of the seedling-receiving claws of the seedling-receiving claw component. The interval seedling-leaving component includes a support plate and two seedling-leaving plates. Each seedling-leaving plate has seedling-leaving holes equally spaced, and the spacing between the seedling-leaving holes is twice the spacing between the seedling-leaving tubes. The seedling-leaving tubes are welded equally spaced on the support plate. The bottom of each seedling-leaving tube is unobstructed. A slot is provided below the support plate, and both seedling-leaving plates are slidably inserted into the slot. The seedling-leaving holes on the two seedling-leaving plates are staggered so that the bottom of each seedling-leaving tube can be blocked when no seedlings are leaking. One end of each seedling-leaving tube is connected to a driving mechanism. The driving mechanism can move the seedling-leaving tube back and forth by the distance of one seedling-leaving tube. The driving mechanism is a hydraulic cylinder, a pneumatic cylinder, or an electric push rod.

[0016] Preferably, a suspended cup seedling transport module is supported below the seedling leakage module. The suspended cup seedling transport module includes a suspended cup support, a chain, sprockets, suspended cups, and a cup opening mechanism. The suspended cup support is provided with several sprockets, and the chain is wound around the sprockets. A motor is connected to one of the sprockets. Several suspended cups are wound around the chain at equal intervals. The cup opening mechanism is provided on the suspended cups. In the arrangement of the suspended cups, at least one row has a number of cups that is not less than the number of leakage holes in the seedling leakage module and the positions of the leakage holes correspond one-to-one. A planting device for receiving is provided below the suspended cup seedling transport module. The seedling leakage rhythm of the seedling leakage module matches the rhythm of the movement and repositioning of the suspended cups.

[0017] The present invention achieves the following technical effects compared to the prior art: The seedling storage module of this invention solves the problems of limited storage capacity and frequent manual tray changes in fully automatic transplanters by using the reciprocating lifting motion of the tray. It is suitable for the automated transplanting of seedlings in plug trays such as solanaceous and leafy vegetables, providing advanced equipment and technology support for intelligent production in facility agriculture and promoting the development of facility agriculture transplanting operations towards a higher level of automation and intelligence. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the seedling transfer device for transplanters in an embodiment of the present invention. Figure 1; Figure 2 This is a schematic diagram of the structure of the seedling transfer device for transplanters in an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the seedling storage module in an embodiment of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the seedling storage module in an embodiment of the present invention. Figure 2 ; Figure 5 This is a partial structural diagram of the seedling storage module in an embodiment of the present invention. Figure 1 ; Figure 6 This is a partial structural diagram of the seedling storage module in an embodiment of the present invention. Figure 2 ; Figure 7 This is a partial structural diagram of the seedling storage module in an embodiment of the present invention. Figure 3 ; Figure 8 This is a schematic diagram of the temporary storage module in an embodiment of the present invention; Figure 9 This is a schematic diagram of the closing module in an embodiment of the present invention; Figure 10 This is a schematic diagram of the seedling transport module in an embodiment of the present invention. Figure 1 ; Figure 11 This is a schematic diagram of the seedling transport module in an embodiment of the present invention. Figure 2 ; Figure 12 This is a schematic diagram of the seedling-taking module in an embodiment of the present invention. Figure 1 ; Figure 13 This is a schematic diagram of the seedling-taking module in an embodiment of the present invention. Figure 2 ; Figure 14 This is a partial structural diagram of the seedling-taking module in an embodiment of the present invention; Figure 15 This is a schematic diagram of the structure of the missing seedling module in an embodiment of the present invention; Figure 16 This is a schematic diagram of the suspended cup seedling transport module in an embodiment of the present invention; In the diagram: 1-Frame, 2-Seedling storage module, 3-Temporary storage module, 4-Seedling transport module, 5-Linear module, 6-Seedling picking claw assembly, 7-Seedling leakage module, 8-Suspended cup seedling transport module, 9-Collection tray module, 10-Chain drive mechanism, 11-Railway, 12-Tray, 13-Push rod, 14-Motor, 15-Support frame, 16-Three-claw positioning rod, 17-Connecting rod, 18-Crossbeam, 19-Position sensor, 20-Cuboid frame, 21-Cylinder, 22-Receiving plate 23-Counter, 24-Main beam, 25-Support rod, 26-Pressure plate, 27-Ball screw mechanism, 28-Limit baffle, 29-Seedling tray, 30-Synchronous belt drive mechanism, 31-Seedling claw, 32-Guide component, 33-Fixing rope, 34-Seedling blocking rod, 35-End limit switch, 36-Seedling discharge tube, 37-Support plate, 38-Seedling discharge plate, 39-Suspension cup bracket, 40-Chain, 41-Sprocket, 42-Suspension cup, 43-Opening cup mechanism, 44-Bearing. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that in the description of this invention, the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "clockwise," and "counterclockwise," etc., indicating directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] The purpose of this invention is to provide a seedling transfer device for transplanters to solve the problems existing in the prior art, thereby increasing the seedling storage capacity and making the spatial layout of the seedling transfer device more compact.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1 like Figures 1 to 16 As shown, this embodiment provides a seedling transfer device for a transplanter, including a frame 1, a seedling storage module 2, a seedling transport module 4, a seedling retrieval module, and a control module. The frame 1 is sequentially equipped with the seedling storage module 2, the seedling transport module 4, and the seedling retrieval module. The seedling storage module 2 is equipped with several trays 12 and push rods 13. The trays 12 support plug seedlings 29 and can reciprocate upward and downward. The push rods 13 can push the plug seedlings 29 onto the seedling transport module 4. The seedling retrieval module can pick up a row of seedlings from the plug seedlings 29 for transfer. The seedling storage module 2, the seedling transport module 4, and the seedling retrieval module are all communicatively connected to the control module. The seedling storage module 2 can be a simple lifting mechanism or a belt- or chain-driven circulating lifting mechanism, achieving three-dimensional lifting while increasing seedling storage capacity. In this embodiment, the seedling storage module solves the problems of limited storage capacity and frequent manual tray changes in fully automatic transplanters by using the reciprocating lifting motion of the tray. It is suitable for the automated transplanting of seedlings in plug trays such as solanaceous and leafy vegetables, providing advanced equipment and technology support for the intelligent production of facility agriculture and promoting the development of facility agriculture transplanting operations towards a higher level of automation and intelligence.

[0026] As an optional solution, the seedling storage module 2 in this embodiment includes a chain drive mechanism 10, a track 11, a tray 12, a balancing frame, and a pusher rod 13. Two tracks 11 are arranged opposite each other on the frame 1. Each track 11 is equipped with a chain drive mechanism 10, and a motor 14 is installed on one of the chain drive mechanisms 10. The two ends of the tray 12 are movably connected to the track 11 through the balancing frame. The chain of the chain drive mechanism 10 is movably connected to the balancing frame, which ensures that the tray 12 is always in a horizontal state. The pusher rod 13 is connected to the track 11, and the pusher rod 13 can push the seedlings 29 in the tray 12 horizontally. In this embodiment, the chain drive mechanism 10 is a conventional mechanical structure with motor drive in the art, and the specific structure will not be described here. In this embodiment, the seedling storage module 2 can store and transport approximately 12 seedlings 29 in the tray, which is enough for the transplanter to travel at least 100m. Usually, the transplanter will travel from one end of the greenhouse to the other before replenishing the seedlings 29, greatly reducing the number of times manual follow-up and tray changing are required.

[0027] As an optional solution, in this embodiment, the track 11 is a waist-shaped grooved track, which facilitates cyclic lifting. The track 11, chain drive mechanism 10, and motor 14 are all mounted on a support frame 15. Several crossbeams 18 are arranged between the two sides of the support frame 15, and push rods 13 are arranged on the crossbeams 18. In this embodiment, a 72-hole seedling tray can be used. The push rod 13 is positioned directly in front of the center of the seedling tray and can push the seedlings 29 out of the tray 12. Preferably, a horizontal plate is provided at the front end of the push rod 13 to push the side of the seedling tray. The seedling storage module 2 is provided with a separate support frame 15, which can form an independent module for easy disassembly and assembly. The push rod 13 can be a hydraulic cylinder, a pneumatic cylinder, or an electric push rod.

[0028] As an optional solution, in this embodiment, the balance frame includes a linkage hinge and a three-jaw positioning rod 16. One end of the three-jaw positioning rod 16 is rolledly connected to the track 11 through a bearing 44, the middle crossbar is hinged to the chain of the chain transmission mechanism 10 through a linkage hinge, and the other end is connected to the side wall of the tray 12 through three positioning rods to prevent the tray 12 from tipping over and to keep the tray 12 in a horizontal state.

[0029] As an optional solution, in this embodiment, the linkage includes several connecting rods 17. One end of the connecting rod 17 is hinged to the chain, and the other end is hinged to the middle crossbar of the three-jaw positioning rod 16. Two connecting rods 17 are hinged at the same hinge point of the chain and the middle crossbar, forming a zigzag linkage. Relying on the traction of the chain, the tray 12 can reciprocate along the trajectory of the track 11. The tray 12 can store the seedlings 29 and also realize the transfer of the seedlings 29. The connecting rod 17 is preferably an S-shaped rod or an arc-shaped rod.

[0030] As an optional solution, in this embodiment, a position sensor 19 is provided on the support frame 15. The height of the position sensor 19 and the height of the push rod 13 are matched with the height of the tray 12 at the unloading position. Each time the tray 12 moves one step, the position sensor 19 is triggered, which in turn stops the motor 14 of the chain drive mechanism 10 and pushes the material with the push rod 13.

[0031] As an optional solution, in this embodiment, a temporary storage module 3 is provided at the unloading position of the seedling storage module 2, and a seedling transport module 4 is provided behind the temporary storage module 3. The temporary storage module 3 is a belt conveyor mechanism, and a tray receiving module 9 is provided below the temporary storage module 3. The height of the belt conveyor mechanism matches the height of the unloading position and the seedling transport module 4 to ensure the stability of the tray seedlings 29 during the transfer process. When there are no tray seedlings 29 on the seedling transport module 4, the pulley of the temporary storage module 3 rotates forward, so that the tray seedlings 29 on the temporary storage module 3 are transferred to the seedling transport module 4.

[0032] As an optional solution, in this embodiment, the receiving module 9 includes a cuboid frame 20 and a movable receiving baffle. At least one side of the cuboid frame 20 is provided with a baffle, and both sides of the cuboid frame 20 are provided with movable receiving baffles. The movable receiving baffle includes a driving component and a receiving plate 22. One end of the driving component is fixedly connected to the cuboid frame 20, and the other end is connected to the receiving plate 22, so that the receiving plate 22 can move horizontally back and forth or rotate around the hinge axis. The width of the cuboid frame 20 is greater than the overall width of the seedling tray 29. The receiving plate 22 is set along the width direction of the seedling tray. After the driving component extends, the distance between the two receiving plates 22 is less than the overall width of the seedling tray 29, so that when the seedling tray falls from the seedling transport module 4, it can be caught in a horizontal state to avoid the phenomenon of tipping over. The middle part of the cuboid frame 20 is used to accommodate empty seedling trays. In this embodiment, the cuboid frame 20 is located in the bracket below the temporary storage module 3. The receiving module 9 and the temporary storage module 3 are each an independent module, but they are also stacked in space, which facilitates disassembly and assembly while making the structure compact and occupying less space. The driving component can be a hydraulic cylinder, a pneumatic cylinder 21, or an electric push rod. The receiving plate 22 is set at an angle with the horizontal plane, so that its feeding end is higher, which makes it easy for the cavity tray to be directly slid into the receiving plate 22. After it is stable, the driving component retracts horizontally, and the cavity tray can fall vertically into the cuboid frame 20. When the inner end of the receiving plate 22 is hinged to the cuboid frame 20 and the outer end is connected to the driving component, the driving component retracts, which allows the receiving plate 22 to rotate 90° around the hinge axis, removing the support for the bottom of the cavity tray, so that the cavity tray can fall flat into the cuboid frame 20.

[0033] As an optional solution, in this embodiment, the seedling transport module 4 includes a transport mechanism and a lifting mechanism. The bottom of both sides of the frame of the transport mechanism is symmetrically provided with lifting mechanisms, and the top of both sides of the frame is provided with L-shaped limiting baffles 28. The limiting baffles 28 are used to restrict the forward movement and deflection of the seedlings 29 in the plug tray. The transport mechanism is a belt transport mechanism, and the motor 14 of the belt transport mechanism can rotate forward or backward. The lifting mechanism can be a hydraulic cylinder, a pneumatic cylinder 21, or an electric push rod, etc., and vertical guide rails can also be symmetrically provided as guiding components. The L-shaped limiting baffles 28 can also be a movable L-shaped limiting component composed of a fixed section and a hinged section of miniature opening and closing baffles. A counter 23 is provided on the lifting mechanism. The counter 23 can count the number of times the lifting mechanism descends. After each seedling is picked up, the lifting mechanism will descend to realize the seedling detachment action. The counter 23 is connected to the control module for communication. By counting the number of descents of the lifting mechanism, the usage status of the plug tray can be known, and the number of seedlings in the plug tray and whether the plug tray needs to be replaced can be calculated. When it is necessary to change the seedling trays, the seedling transport module 4 lowers and pushes out the seedling trays. After rising under no load, the control module controls the motors of the belt conveyor mechanisms of the seedling transport module 4 and the temporary storage module 3 to run in the same direction simultaneously, so that the seedlings 29 in the seedling trays on the temporary storage module 3 are transported to the seedling transport module 4. The motor of the seedling transport module 4 runs a set number of revolutions and then stops rotating. After the push rod 13 of the seedling storage module 2 is activated, the motor of the temporary storage module 3 runs a set number of revolutions and then stops rotating, completing the temporary storage of seedlings, waiting for the next seedling tray change.

[0034] As an optional solution, in this embodiment, a pressure plate mechanism is provided above the frame of the transport mechanism. The pressure plate mechanism includes a translation component and a pressure plate frame. The pressure plate frame is vertically connected below the translation component. The pressure plate frame includes a main beam 24, support rods 25, and a pressure plate 26. Several support rods 25 are evenly distributed below the main beam 24. A pressure plate 26 is fixedly connected to the lower end of each support rod 25. The pressure plate 26 presses against the frame between two holes in the next row of seedling trays 29. The pressure plate 26 is preferably rhomboid in shape. The pressing holes are raised as the seedlings are picked up, and at the same time, they can press down part of the culture medium of the next row of seedlings, so as to prevent the branches and leaves of the front and back rows of seedlings from getting tangled and pulling the next row of seedlings. The number of pressing plates 26 is one less than the number of holes in a row of seedling trays. The translation component can drive the pressing plate 26 frame to move along the movement direction of the transport mechanism. The translation component is a ball screw mechanism 27. The ball screw mechanism 27 is mounted on the transport mechanism through a bracket and is higher than the height of the seedling. The slider of the ball screw mechanism 27 is connected to the main beam 24.

[0035] As an optional solution, in this embodiment, a seedling picking module is provided above the seedling transport module 4. The seedling picking module includes a linear module 5 and a seedling picking claw assembly 6. The linear module 5 is symmetrically arranged on an independent support, so that the module is independent and easy to disassemble and assemble. The two ends of the seedling picking claw assembly 6 are connected to the linear module 5. The seedling transport module 4 is located between the two linear modules 5, so as to realize the translation of the seedling picking claw assembly 6. The seedling picking claw assembly 6 is provided with several seedling picking claws 31. The seedling picking claw assembly 6 can use the seedling picking claws to simultaneously hold the seedlings in a row of plug trays 29. The specific number of seedlings picked is consistent with the specifications of the plug trays used.

[0036] As an optional solution, in this embodiment, the seedling claw assembly 6 includes a belt drive mechanism, seedling claws 31, a guide 32, and a fixing rope 33. Several seedling claws 31 are fixedly connected at equal intervals on the fixing rope 33. The top of each seedling claw 31 is horizontally slidably mounted on the guide 32. The seedling claws 31 at both ends are fixed to the front and rear belts of the belt drive mechanism, respectively. The seedling claw 31 in the middle is fixed to the guide 32 and does not move. The seedling claws 31 at both ends are fixed to the front and rear belts of the belt drive mechanism, respectively. The rotation of the belt drives the seedling claws 31 at both ends to move towards each other, thereby realizing the rapid change of the spacing between the seedling claws 31. Usually, the claw spacing can be adjusted according to the spacing of the seedlings on the seedling tray before the device is used. The fixing rope 33 can also be a series of rope segments, with each segment connecting two adjacent seedling claws 31. The fixing rope 33 is preferably a steel wire rope. Through the traction of the fixing rope 33, the gathered seedling claws 31 can be gradually unfolded to a position with equal spacing. If there are an even number of seedling claws 31, an unused slider can be added for connecting the seedling claw 31 to the guide 32 to ensure that only the slider of the seedling claw 31 in the middle is fixed.

[0037] As an optional solution, in this embodiment, the belt drive mechanism is a synchronous belt drive mechanism 30, which has high motion accuracy. The seedling picking claw 31 is a pneumatic gripper with a buffer pad inside. The guide 32 is a linear track. Except for the middle seedling picking claw 31 which is fixedly connected to the guide 32, the other seedling picking claws 31 are all slidably set in the linear track by sliders to achieve uniform height and displacement guidance of each pneumatic gripper.

[0038] As an optional solution, in this embodiment, the guide member 32 is provided with seedling-blocking rods 34 at both ends. The seedling-blocking rods 34 are U-shaped, and the grippers of the seedling-picking claws 31 can extend out of the seedling-blocking rods 34 to prevent the seedling branches and leaves from spreading to the vicinity of the seedling-picking claws 31 and affecting the normal operation of the equipment. An end limit switch 35 is provided at each end of the seedling-blocking rod 34. The end limit switches 35 are used to match the seedling-picking claws 31 at both ends. The end limit switches 35 and the belt drive mechanism are all communicatively connected to the control module. When one end of the seedling-picking claw 31 touches the end limit switch 35, the belt drive mechanism stops moving to prevent the seedling-picking claw 31 from moving beyond the set range.

[0039] As an optional solution, in this embodiment, a seedling-leaving module 7 is supported below the seedling-taking module. The seedling-leaving module 7 includes an interval seedling-leaving component and seedling-leaving tubes 36. Several seedling-leaving tubes 36 are equally spaced on the interval seedling-leaving component. The number of seedling-leaving tubes 36 is the same as the number of seedlings in a row of seedling trays, and their positions correspond one-to-one with the positions of the seedling-taking claws 31 of the seedling-taking claw component 6. The interval seedling-leaving component includes a support plate 37 and two seedling-leaving plates 38. Each seedling-leaving plate 38 has seedling-leaving holes evenly spaced, and the spacing of the seedling-leaving holes is equal to twice the spacing of the seedling-leaving tubes 36. Seedling-leaving tubes 36 are welded evenly spaced on the support plate 37. The bottom of the seedling-leaving tubes 36 is unobstructed. A slot is provided below 37, and two seedling-discharging plates 38 are slidably inserted into the slot. The seedling-discharging holes on the two seedling-discharging plates 38 are staggered, so that the bottom of each seedling-discharging tube 36 can be blocked when no seedlings are being discharged, preventing the seedlings from falling directly from the seedling-discharging tube 36 into the suspended cup seedling transport module 8 after being picked up. A large drop could easily damage the seedlings. One end of each seedling-discharging tube 36 is connected to a drive mechanism, which can move the seedling-discharging tube 36 back and forth by the distance of one seedling-discharging tube 36. The two drive mechanisms move alternately, thereby realizing the discharge of seedlings with odd and even numbers, so as to increase the distance between the seedlings. The drive mechanism is a hydraulic cylinder, a pneumatic cylinder 21, or an electric push rod. It is also possible to have only one seedling-discharging plate 38, but there must be a time interval for the drive mechanism to move half the distance of the seedling-discharging tube 36 to block the seedlings and prevent the seedlings from being damaged by a large drop.

[0040] As an optional solution, in this embodiment, a suspended cup seedling transport module 8 is supported below the seedling leakage module 7. The suspended cup seedling transport module 8 includes a suspended cup support 39, a chain 40, a sprocket 41, suspended cups 42, and a cup opening mechanism 43. Several sprockets 41 are provided on the suspended cup support 39. In this embodiment, there are four sets of sprockets. A chain 40 is wound around the sprockets 41. A motor 14 is connected to one of the sprockets 41. Several suspended cups 42 are wound around the chain 40 at equal intervals. The cup opening mechanism 43 is provided on the suspended cups 42. In the arrangement of the suspended cups 42, at least one row of suspended cups 42 has a number of not less than the number of seedling leakage holes of the seedling leakage module 7 and the positions of the seedling leakage holes correspond one-to-one. A planting device for receiving is provided below the suspended cup seedling transport module 8. The seedling leakage rhythm of the seedling leakage module 7 matches the rhythm of the movement and repositioning of the suspended cups 42. The suspended cup 42 is composed of a fixed petal and a hinged petal. The fixed petal is fixedly connected to the chain 40, and the hinged petal is hinged to the top of the fixed petal. A roller is provided on the side wall of the hinged petal. The cup opening mechanism 43 is a horizontal rail. The roller of the hinged petal can roll and move on the horizontal rail to open the hinged petal for seedling placement. As long as the horizontal rail is set at the corresponding seedling placement position, directional seedling placement can be achieved. In this embodiment, two horizontal rails of different heights and odd-even number rollers with matching heights are provided to achieve two rows of seedling placement in the odd-even number suspended cups 42. The cup opening mechanism 43 can also be other conventional structures in the art, which will not be described in detail here.

[0041] In this embodiment, the seedling transport device of the transplanter is modularly integrated for easy disassembly, assembly, and maintenance. The seedling storage module 2 is a three-dimensional circulating device, and its operation is as follows: The seedling storage module 2 is driven by a motor 14, which rotates and lifts the tray 12 and the seedlings 29 via a sprocket and chain. Connecting rods 17 are positioned and connected to the chain via bolts and buckles. Two adjacent connecting rods 17 are connected to form a triangle and connected to the three-jaw positioning rod 16 of the tray 12. The tray 12 is fixedly connected to the three-jaw positioning rod 16, and each tray 12 holds a seedling 29. During operation, when the tray 12 carrying the seedlings 29 reaches the vicinity of the photoelectric sensor (i.e., the push...),... When the seedling tray 12 is pushed out of the tray, the photoelectric sensor detects the tray 12 and sends a signal to stop the motor of the sprocket. Then, the push rod 13 on the crossbeam 18 moves in a translational motion towards the tray pushing station, pushing the seedling tray 29 out of the tray 12. At the same time, the belt conveyor mechanism of the temporary storage module 3 operates, so that the seedling tray 29 is temporarily stored on the temporary storage module 3. After pushing, the push rod 13 retracts, the temporary storage module 3 stops moving, and after the push rod 13 completes a whole movement, the control module sends a signal to make the whole device continue to move. The above operation is repeated until all the seedling tray 29 on the seedling storage module 2 are pushed out.

[0042] The specific operation process for seedling retrieval on the seedling transport module 4 is as follows: The lifting mechanism is an electric push rod, and the belt conveyor mechanism of the seedling transport module 4 is driven by a motor 14, which can realize the forward and reverse rotation of the belt conveyor mechanism; the pressing plate frame for pressing seedlings is driven by a ball screw mechanism. At the start of the operation, a tray of seedlings 29 is placed on the belt conveyor mechanism. The seedling retrieval module is moved to the top of the seedling transport module 4 via the linear module 5. After the seedling retrieval claw 31 of the seedling retrieval claw assembly 6 reaches the set position, it clamps the seedlings from a row of 12 tray seedlings 29. After the seedling retrieval claw 31 clamps, the electric push rod moves the belt conveyor mechanism of the seedling transport module 4 to descend, separating the tray from the seedling. The seedling retrieval claw 31 is driven by a synchronous belt to change the spacing of the seedling retrieval claw 31, and at the same time, it moves on the linear module 5 to the seedling leakage module 7. The seedling retrieval claw 31 opens to let the seedling fall into the seedling leakage cylinder 36, and then closes and moves through the linear module 5 to the next seedling retrieval row. After the electric push rod descends for a set time, it rises again, repeating the above actions. The seedling claw 31 clamps the next row of seedlings, and the pressing plate 26 always presses down on the row below the seedling row to prevent the seedlings in the next row from being lifted up by the seedling row due to sticking branches and leaves. When the last row of seedlings is picked up, the seedling claw 31 clamps the seedlings, the electric push rod descends, and the belt conveyor reverses, causing the empty seedling tray to fall into the collection module 9 for collection. Then, after the electric push rod rises, the belt conveyor mechanisms of the temporary storage module 3 and the seedling transport module 4 both rotate forward. The temporary storage module 3 transports the seedling tray seedlings 29 to the seedling transport module 4, and the belt conveyor mechanism of the seedling transport module 4 stops moving after a set time.

[0043] The specific operation process of the seedling leakage module 7 to achieve odd and even seedling leakage is as follows: The two seedling leakage plates 38 of the seedling leakage module 7 are driven by two cylinders, which are divided into odd-numbered seedling leakage cylinders and even-numbered seedling leakage cylinders. The extended ends of the two cylinders are connected to the odd-numbered seedling leakage plates and even-numbered seedling leakage plates, respectively. Due to the large distance between the suspension cups 42, when the odd-numbered seedling leakage cylinder extends, the seedling leakage holes of the odd-numbered seedling leakage plates coincide with those of the even-numbered seedling leakage plates, allowing the even-numbered seedlings to fall into the suspension cups 42 of the lower suspension cup seedling transport module 8; when the even-numbered seedling leakage cylinder extends, the seedling leakage holes of the even-numbered seedling leakage plates coincide with those of the odd-numbered seedling leakage plates, allowing the odd-numbered seedlings to fall into the suspension cups 42 of the suspension cup seedling transport module 8. In this process, the odd-numbered and even-numbered seedling leakage cylinders each complete one cycle of operation. The suspended cup seedling transport module 8 is always driven to rotate by the chain. The triggering time (timing) of the odd-numbered and even-numbered seedling leakage cylinders is when the suspended cup is facing the odd / even number of seedling leakage holes. The two cylinders move independently and do not interfere with each other. The suspended cup 42 is always rotating to meet the requirements of achieving the working rhythm.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "this embodiment," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A seedling transfer device for a transplanter, characterized in that: The system includes a frame, a seedling storage module, a seedling transport module, a seedling retrieval module, and a control module. The seedling storage module, the seedling transport module, and the seedling retrieval module are sequentially arranged on the frame. The seedling storage module is equipped with several trays and push rods. The trays support plug seedlings and can reciprocate up and down. The push rods can push the plug seedlings onto the seedling transport module. The seedling retrieval module can pick up a row of seedlings from the plug seedlings for transfer. The seedling storage module, the seedling transport module, and the seedling retrieval module are all communicatively connected to the control module.

2. The transplanter seedling transfer device according to claim 1, characterized in that: The seedling storage module includes a chain drive mechanism, a track, a tray, a balancing frame, and a pusher rod. Two tracks are arranged opposite each other on the frame, and each track is equipped with a chain drive mechanism. A motor is installed on one of the chain drive mechanisms. The two ends of the tray are movably connected to the track through the balancing frame. The chain of the chain drive mechanism is movably connected to the balancing frame, which ensures that the tray is always in a horizontal state. The pusher rod is connected to the track and can push the seedlings out of the tray.

3. The transplanter seedling transfer device according to claim 2, characterized in that: The track is a waist-shaped grooved track. The track, the chain drive mechanism, and the motor are all mounted on a support frame. Several crossbeams are arranged between the two sides of the support frame, and the push rod is mounted on the crossbeams. The balancing frame includes a linkage hinge and a three-jaw positioning rod. One end of the three-jaw positioning rod is rolled to the track through a bearing, the middle crossbeam is hinged to the chain of the chain drive mechanism through the linkage hinge, and the other end is connected to the side wall of the tray through three positioning rods, so that the tray is always in a horizontal state. The linkage hinge includes several connecting rods. One end of the connecting rod is hinged to the chain, and the other end is hinged to the middle crossbeam of the three-jaw positioning rod. Two connecting rods are hinged at the same hinge point of the chain and the middle crossbeam, forming a zigzag linkage hinge. A position sensor is installed on the support frame. The height of the position sensor and the height of the push rod are matched with the height of the tray at the unloading position.

4. The transplanter seedling transfer device according to claim 1, characterized in that: The seedling storage module has a temporary storage module at its unloading position, and the seedling transport module is located behind the temporary storage module. The temporary storage module is a belt conveyor mechanism, and a tray receiving module is located below the temporary storage module. The height of the belt conveyor mechanism matches the height of the unloading position and the seedling transport module. The tray receiving module includes a cuboid frame and movable receiving baffles. At least one side of the cuboid frame has a baffle, and both sides of the cuboid frame have movable receiving baffles. Each movable receiving baffle includes a driving component and a receiving plate. One end of the driving component is fixedly connected to the cuboid frame, and the other end is connected to the receiving plate, enabling the receiving plate to move horizontally back and forth or rotate around a hinge axis. The width of the cuboid frame is greater than the overall width of the seedling trays. After the driving component extends, the distance between the two receiving plates is less than the overall width of the seedling trays. The middle part of the cuboid frame is used to accommodate empty seedling trays.

5. The transplanter seedling transfer device according to claim 1, characterized in that: The seedling transport module includes a transport mechanism and a lifting mechanism. The lifting mechanism is symmetrically arranged at the bottom of both sides of the frame of the transport mechanism, and L-shaped limiting baffles are arranged at the top of both sides of the frame. The limiting baffles are used to restrict the forward movement and deflection of the seedlings in the plug tray. The transport mechanism is a belt transport mechanism, and the motor of the belt transport mechanism can rotate forward or backward. A counter is arranged on the lifting mechanism, and the counter can count the number of times the lifting mechanism descends.

6. The seedling transfer device for transplanters according to claim 5, characterized in that: A pressure plate mechanism is provided above the frame of the transport mechanism. The pressure plate mechanism includes a translation component and a pressure plate frame. The pressure plate frame is vertically connected to the lower part of the translation component. The pressure plate frame includes a main beam, support rods, and pressure plates. Several support rods are evenly distributed below the main beam. Each support rod is fixedly connected to a pressure plate at its lower end. The pressure plates press against the frame between two holes in the next row of seedling trays at the seedling picking station. The number of pressure plates is one less than the number of holes in a row of seedling trays. The translation component can drive the pressure plate frame to move along the direction of movement of the transport mechanism. The translation component is a ball screw mechanism, and the slider of the ball screw mechanism is connected to the main beam.

7. The seedling transfer device for transplanters according to claim 1, characterized in that: Above the seedling transport module is a seedling retrieval module, which includes a straight module and a seedling retrieval claw assembly. The straight module is symmetrically arranged on an independent support. The two ends of the seedling retrieval claw assembly are connected to the straight module. The seedling transport module is located between the two straight modules. The seedling retrieval claw assembly is provided with several seedling retrieval claws. The seedling retrieval claw assembly can simultaneously hold the seedlings in a row of seedling trays of the plug seedlings.

8. The transplanter seedling transfer device according to claim 7, characterized in that: The seedling-picking claw assembly includes a belt drive mechanism, seedling-picking claws, a guide member, and a fixing rope. Several seedling-picking claws are fixedly connected to the fixing rope at equal intervals. The top of each seedling-picking claw is horizontally slidably mounted on the guide member. The seedling-picking claws at both ends are fixed to the front and rear belts of the belt drive mechanism, respectively, while the middle seedling-picking claw is fixed to the guide member. The belt drive mechanism is a synchronous belt drive mechanism. The seedling-picking claws are pneumatic grippers with internal buffer pads. The guide member is a linear track. Both ends of the guide member are equipped with U-shaped seedling-blocking rods, and the grippers of the seedling-picking claws can extend beyond the seedling-blocking rods. Each end of the seedling-blocking rod is equipped with an end limit switch, which is used to match the seedling-picking claws at both ends. The end limit switches and the belt drive mechanism are communicatively connected to the control module.

9. The transplanter seedling transfer device according to claim 1, characterized in that: Below the seedling retrieval module is a seedling leakage module. The seedling leakage module includes an interval seedling leakage component and seedling leakage tubes. Several seedling leakage tubes are equally spaced on the interval seedling leakage component. The number of seedling leakage tubes is the same as the number of seedlings in a row of seedling trays, and their positions correspond one-to-one with the positions of the seedling retrieval claws of the seedling retrieval claw component. The interval seedling leakage component includes a support plate and two seedling leakage plates. Each seedling leakage plate has seedling leakage holes equally spaced, and the spacing between the seedling leakage holes is twice the spacing between the seedling leakage tubes. The seedling leakage tubes are welded equally spaced on the support plate. The bottom of each seedling leakage tube is unobstructed. A slot is provided below the support plate, and two seedling leakage plates are slidably inserted into the slot. The seedling leakage holes on the two seedling leakage plates are staggered so that the bottom of each seedling leakage tube can be blocked when no seedlings are leaking. One end of each seedling leakage tube is connected to a driving mechanism. The driving mechanism can move the seedling leakage tube back and forth by the distance of one seedling leakage tube. The driving mechanism is a hydraulic cylinder, a pneumatic cylinder, or an electric push rod.

10. The transplanter seedling transfer device according to claim 9, characterized in that: Below the seedling leakage module is a suspended cup seedling transport module. The suspended cup seedling transport module includes a suspended cup support, a chain, sprockets, suspended cups, and a cup opening mechanism. The suspended cup support is equipped with several sprockets, and the chain is wound around the sprockets. One of the sprockets is connected to a motor. Several suspended cups are wound at equal intervals on the chain. The cup opening mechanism is provided on each suspended cup. In the arrangement of the suspended cups, at least one row has a number of cups that is not less than the number of leakage holes in the seedling leakage module, and the positions of the leakage holes correspond one-to-one. Below the suspended cup seedling transport module is a planting device for receiving the seedlings. The seedling leakage rhythm of the seedling leakage module matches the rhythm of the movement and repositioning of the suspended cups.

Images